1 files changed, 101 insertions, 0 deletions
diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
new file mode 100644
index 0000000..05bc522
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -0,0 +1,101 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+#if ENABLED(CNC_COORDINATE_SYSTEMS)
+
+#include "../../module/stepper.h"
+
+//#define DEBUG_M53
+
+/**
+ * Select a coordinate system and update the workspace offset.
+ * System index -1 is used to specify machine-native.
+ */
+bool GcodeSuite::select_coordinate_system(const int8_t _new) {
+  if (active_coordinate_system == _new) return false;
+  active_coordinate_system = _new;
+  xyz_float_t new_offset{0};
+  if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
+    new_offset = coordinate_system[_new];
+  LOOP_XYZ(i) {
+    if (position_shift[i] != new_offset[i]) {
+      position_shift[i] = new_offset[i];
+      update_workspace_offset((AxisEnum)i);
+    }
+  }
+  return true;
+}
+
+/**
+ * G53: Apply native workspace to the current move
+ *
+ * In CNC G-code G53 is a modifier.
+ * It precedes a movement command (or other modifiers) on the same line.
+ * This is the first command to use parser.chain() to make this possible.
+ *
+ * Marlin also uses G53 on a line by itself to go back to native space.
+ */
+void GcodeSuite::G53() {
+  const int8_t old_system = active_coordinate_system;
+  select_coordinate_system(-1);   // Always remove workspace offsets
+  #ifdef DEBUG_M53
+    SERIAL_ECHOLNPGM("Go to native space");
+    report_current_position();
+  #endif
+
+  if (parser.chain()) {       // Command to chain?
+    process_parsed_command(); // ...process the chained command
+    select_coordinate_system(old_system);
+    #ifdef DEBUG_M53
+      SERIAL_ECHOLNPAIR("Go back to workspace ", old_system);
+      report_current_position();
+    #endif
+  }
+}
+
+/**
+ * G54-G59.3: Select a new workspace
+ *
+ * A workspace is an XYZ offset to the machine native space.
+ * All workspaces default to 0,0,0 at start, or with EEPROM
+ * support they may be restored from a previous session.
+ *
+ * G92 is used to set the current workspace's offset.
+ */
+void G54_59(uint8_t subcode=0) {
+  const int8_t _space = parser.codenum - 54 + subcode;
+  if (gcode.select_coordinate_system(_space)) {
+    SERIAL_ECHOLNPAIR("Select workspace ", _space);
+    report_current_position();
+  }
+}
+void GcodeSuite::G54() { G54_59(); }
+void GcodeSuite::G55() { G54_59(); }
+void GcodeSuite::G56() { G54_59(); }
+void GcodeSuite::G57() { G54_59(); }
+void GcodeSuite::G58() { G54_59(); }
+void GcodeSuite::G59() { G54_59(parser.subcode); }
+
+#endif // CNC_COORDINATE_SYSTEMS